2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
3 Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
4 Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
8 #include "libs/Kernel.h"
10 #include "modules/tools/laser/Laser.h"
11 #include "modules/tools/spindle/Spindle.h"
12 #include "modules/tools/extruder/ExtruderMaker.h"
13 #include "modules/tools/temperaturecontrol/TemperatureControlPool.h"
14 #include "modules/tools/endstops/Endstops.h"
15 #include "modules/tools/zprobe/ZProbe.h"
16 #include "modules/tools/scaracal/SCARAcal.h"
17 #include "RotaryDeltaCalibration.h"
18 #include "modules/tools/switch/SwitchPool.h"
19 #include "modules/tools/temperatureswitch/TemperatureSwitch.h"
20 #include "modules/tools/drillingcycles/Drillingcycles.h"
21 #include "FilamentDetector.h"
22 #include "MotorDriverControl.h"
24 #include "modules/robot/Conveyor.h"
25 #include "modules/utils/simpleshell/SimpleShell.h"
26 #include "modules/utils/configurator/Configurator.h"
27 #include "modules/utils/currentcontrol/CurrentControl.h"
28 #include "modules/utils/player/Player.h"
29 #include "modules/utils/killbutton/KillButton.h"
30 #include "modules/utils/PlayLed/PlayLed.h"
31 #include "modules/utils/panel/Panel.h"
32 #include "libs/Network/uip/Network.h"
34 #include "checksumm.h"
35 #include "ConfigValue.h"
36 #include "StepTicker.h"
37 #include "SlowTicker.h"
40 // #include "libs/ChaNFSSD/SDFileSystem.h"
41 #include "libs/nuts_bolts.h"
42 #include "libs/utils.h"
45 #include "libs/SerialMessage.h"
47 #include "libs/USBDevice/USB.h"
48 #include "libs/USBDevice/USBMSD/USBMSD.h"
49 #include "libs/USBDevice/USBMSD/SDCard.h"
50 #include "libs/USBDevice/USBSerial/USBSerial.h"
51 #include "libs/USBDevice/DFU.h"
52 #include "libs/SDFAT.h"
53 #include "StreamOutputPool.h"
54 #include "ToolManager.h"
56 #include "libs/Watchdog.h"
59 #include "system_LPC17xx.h"
60 #include "platform_memory.h"
64 #define second_usb_serial_enable_checksum CHECKSUM("second_usb_serial_enable")
65 #define disable_msd_checksum CHECKSUM("msd_disable")
66 #define dfu_enable_checksum CHECKSUM("dfu_enable")
67 #define watchdog_timeout_checksum CHECKSUM("watchdog_timeout")
71 SDCard sd
__attribute__ ((section ("AHBSRAM0"))) (P0_9
, P0_8
, P0_7
, P0_6
); // this selects SPI1 as the sdcard as it is on Smoothieboard
72 //SDCard sd(P0_18, P0_17, P0_15, P0_16); // this selects SPI0 as the sdcard
73 //SDCard sd(P0_18, P0_17, P0_15, P2_8); // this selects SPI0 as the sdcard witrh a different sd select
75 USB u
__attribute__ ((section ("AHBSRAM0")));
76 USBSerial usbserial
__attribute__ ((section ("AHBSRAM0"))) (&u
);
78 USBMSD msc
__attribute__ ((section ("AHBSRAM0"))) (&u
, &sd
);
83 SDFAT mounter
__attribute__ ((section ("AHBSRAM0"))) ("sd", &sd
);
95 // Default pins to low status
96 for (int i
= 0; i
< 5; i
++){
101 Kernel
* kernel
= new Kernel();
103 kernel
->streams
->printf("Smoothie Running @%ldMHz\r\n", SystemCoreClock
/ 1000000);
104 SimpleShell::version_command("", kernel
->streams
);
106 bool sdok
= (sd
.disk_initialize() == 0);
107 if(!sdok
) kernel
->streams
->printf("SDCard failed to initialize\r\n");
110 kernel
->streams
->printf("NETWORK is disabled\r\n");
114 // attempt to be able to disable msd in config
115 if(sdok
&& !kernel
->config
->value( disable_msd_checksum
)->by_default(true)->as_bool()){
116 // HACK to zero the memory USBMSD uses as it and its objects seem to not initialize properly in the ctor
117 size_t n
= sizeof(USBMSD
);
118 void *v
= AHB0
.alloc(n
);
119 memset(v
, 0, n
); // clear the allocated memory
120 msc
= new(v
) USBMSD(&u
, &sd
); // allocate object using zeroed memory
123 kernel
->streams
->printf("MSD is disabled\r\n");
127 // Create and add main modules
128 kernel
->add_module( new(AHB0
) Player() );
130 kernel
->add_module( new(AHB0
) CurrentControl() );
131 kernel
->add_module( new(AHB0
) KillButton() );
132 kernel
->add_module( new(AHB0
) PlayLed() );
134 // these modules can be completely disabled in the Makefile by adding to EXCLUDE_MODULES
135 #ifndef NO_TOOLS_ENDSTOPS
136 kernel
->add_module( new(AHB0
) Endstops() );
139 #ifndef NO_TOOLS_SWITCH
140 SwitchPool
*sp
= new SwitchPool();
144 #ifndef NO_TOOLS_EXTRUDER
145 // NOTE this must be done first before Temperature control so ToolManager can handle Tn before temperaturecontrol module does
146 ExtruderMaker
*em
= new ExtruderMaker();
150 #ifndef NO_TOOLS_TEMPERATURECONTROL
151 // Note order is important here must be after extruder so Tn as a parameter will get executed first
152 TemperatureControlPool
*tp
= new TemperatureControlPool();
156 #ifndef NO_TOOLS_LASER
157 kernel
->add_module( new Laser() );
159 #ifndef NO_TOOLS_SPINDLE
160 kernel
->add_module( new(AHB0
) Spindle() );
162 #ifndef NO_UTILS_PANEL
163 kernel
->add_module( new(AHB0
) Panel() );
165 #ifndef NO_TOOLS_ZPROBE
166 kernel
->add_module( new(AHB0
) ZProbe() );
168 #ifndef NO_TOOLS_SCARACAL
169 kernel
->add_module( new(AHB0
) SCARAcal() );
171 #ifndef NO_TOOLS_ROTARYDELTACALIBRATION
172 kernel
->add_module( new(AHB0
) RotaryDeltaCalibration() );
175 kernel
->add_module( new Network() );
177 #ifndef NO_TOOLS_TEMPERATURESWITCH
178 // Must be loaded after TemperatureControl
179 kernel
->add_module( new(AHB0
) TemperatureSwitch() );
181 #ifndef NO_TOOLS_DRILLINGCYCLES
182 kernel
->add_module( new(AHB0
) Drillingcycles() );
184 #ifndef NO_TOOLS_FILAMENTDETECTOR
185 kernel
->add_module( new(AHB0
) FilamentDetector() );
187 #ifndef NO_UTILS_MOTORDRIVERCONTROL
188 kernel
->add_module( new MotorDriverControl(0) );
190 // Create and initialize USB stuff
194 if(sdok
&& msc
!= NULL
){
195 kernel
->add_module( msc
);
198 kernel
->add_module( &msc
);
201 kernel
->add_module( &usbserial
);
202 if( kernel
->config
->value( second_usb_serial_enable_checksum
)->by_default(false)->as_bool() ){
203 kernel
->add_module( new(AHB0
) USBSerial(&u
) );
206 if( kernel
->config
->value( dfu_enable_checksum
)->by_default(false)->as_bool() ){
207 kernel
->add_module( new(AHB0
) DFU(&u
));
210 // 10 second watchdog timeout (or config as seconds)
211 float t
= kernel
->config
->value( watchdog_timeout_checksum
)->by_default(10.0F
)->as_number();
213 // NOTE setting WDT_RESET with the current bootloader would leave it in DFU mode which would be suboptimal
214 kernel
->add_module( new Watchdog(t
*1000000, WDT_MRI
)); // WDT_RESET));
215 kernel
->streams
->printf("Watchdog enabled for %f seconds\n", t
);
217 kernel
->streams
->printf("WARNING Watchdog is disabled\n");
221 kernel
->add_module( &u
);
223 // memory before cache is cleared
224 //SimpleShell::print_mem(kernel->streams);
226 // clear up the config cache to save some memory
227 kernel
->config
->config_cache_clear();
229 if(kernel
->is_using_leds()) {
230 // set some leds to indicate status... led0 init done, led1 mainloop running, led2 idle loop running, led3 sdcard ok
231 leds
[0]= 1; // indicate we are done with init
232 leds
[3]= sdok
?1:0; // 4th led indicates sdcard is available (TODO maye should indicate config was found)
236 // load config override file if present
237 // NOTE only Mxxx commands that set values should be put in this file. The file is generated by M500
238 FILE *fp
= fopen(kernel
->config_override_filename(), "r");
241 kernel
->streams
->printf("Loading config override file: %s...\n", kernel
->config_override_filename());
242 while(fgets(buf
, sizeof buf
, fp
) != NULL
) {
243 kernel
->streams
->printf(" %s", buf
);
244 if(buf
[0] == ';') continue; // skip the comments
245 struct SerialMessage message
= {&(StreamOutput::NullStream
), buf
};
246 kernel
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
248 kernel
->streams
->printf("config override file executed\n");
253 // start the timers and interrupts
254 THEKERNEL
->conveyor
->start(THEROBOT
->get_number_registered_motors());
255 THEKERNEL
->step_ticker
->start();
256 THEKERNEL
->slow_ticker
->start();
266 if(THEKERNEL
->is_using_leds()) {
267 // flash led 2 to show we are alive
268 leds
[1]= (cnt
++ & 0x1000) ? 1 : 0;
270 THEKERNEL
->call_event(ON_MAIN_LOOP
);
271 THEKERNEL
->call_event(ON_IDLE
);